diff --git a/.rosinstall b/.rosinstall
index 41872d556..7ca7428a8 100644
--- a/.rosinstall
+++ b/.rosinstall
@@ -4,4 +4,33 @@
 - git:
     uri: https://github.com/jsk-ros-pkg/jsk_model_tools.git
     local-name: jsk-ros-pkg/jsk_model_tools
-
+- git:
+    uri: https://github.com/jsk-ros-pkg/jsk_roseus.git
+    local-name: jsk-ros-pkg/jsk_roseus
+- git:
+    uri: https://github.com/jsk-ros-pkg/jsk_common.git
+    local-name: jsk-ros-pkg/jsk_common
+- git:
+    uri: https://github.com/jsk-ros-pkg/jsk_recognition.git
+    local-name: jsk-ros-pkg/jsk_recognition
+- git:
+    uri: https://github.com/jsk-ros-pkg/jsk_demos.git
+    local-name: jsk-ros-pkg/jsk_demos
+- git:
+    uri: https://github.com/jsk-ros-pkg/jsk_smart_apps.git
+    local-name: jsk-ros-pkg/jsk_smart_apps
+- git:
+    uri: https://github.com/jsk-ros-pkg/openrave_planning.git
+    local-name: jsk-ros-pkg/openrave_planning
+- svn:
+    uri: https://svn.code.sf.net/p/tum-ros-pkg/code/perception/
+    local-name: tum-ros-pkg/perception
+- svn:
+    uri: https://svn.code.sf.net/p/tum-ros-pkg/code/highlevel/SnapMapICP
+    local-name: tum-ros-pkg/highlevel/SnapMapICP
+- git:
+    uri: https://github.com/ahornung/nao_robot.git
+    local-name: humanoid_stacks/nao_robot
+- svn:
+    uri: http://svn.code.sf.net/p/bosch-ros-pkg/code/trunk/stacks/bosch_shared_autonomy
+    local-name: bosch-ros-pkg/stacks/bosch_shared_autonomy
diff --git a/.travis.yml b/.travis.yml
index f8ecda955..80a06b110 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -6,6 +6,10 @@ python:
   - "2.7"
 compiler:
   - gcc
+env:
+  - ROS_DISTRO=groovy ROSWS=rosws BUILDER=rosbuild BUILD_PACKAGES="jsk_baxter_robot  jsk_nao_robot  jsk_pr2_accessories  jsk_pr2_desktop  jsk_pr2_startup  pr2_base_trajectory_action"
+  - ROS_DISTRO=hydro ROSWS=wstool BUILDER=catkin
+  - ROS_DISTRO=groovy ROSWS=wstool BUILDER=catkin
 #notifications:
 #  email:
 #    recipients:
@@ -14,14 +18,13 @@ compiler:
 #    on_failure: always #[always|never|change] # default: always
 before_install: # Use this to prepare the system to install prerequisites or dependencies
   # Define some config vars
-  - export ROS_DISTRO=hydro
   - export CI_SOURCE_PATH=$(pwd)
   - export REPOSITORY_NAME=${PWD##*/}
   - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
   - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
   - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
   - sudo apt-get update -qq
-  - sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-ros
+  - sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-ros python-rosinstall
   # MongoDB hack - I don't fully understand this but its for moveit_warehouse
   - sudo apt-get remove -y mongodb mongodb-10gen
   - sudo apt-get install -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" # default actions
@@ -34,24 +37,31 @@ install: # Use this to install any prerequisites or dependencies necessary to ru
   # Create workspace
   - mkdir -p ~/ros/ws_$REPOSITORY_NAME/src
   - cd ~/ros/ws_$REPOSITORY_NAME/src
-  - wstool init .
-  - wstool merge http://raw.github.com/$TRAVIS_REPO_SLUG/$TRAVIS_BRANCH/.rosinstall
-  - wstool update
+  - $ROSWS init .
+  - $ROSWS merge file://$CI_SOURCE_PATH/.rosinstall
+  - if [ $ROSWS = rosws ] ; then $ROSWS merge /opt/ros/$ROS_DISTRO/.rosinstall; fi
+  - $ROSWS update -j10
+  - if [ $ROSWS = rosws ] ; then $ROSWS set --git $REPOSITORY_NAME https://dummy.com/dummy -y; fi
   - ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
   - cd ../
   # Install dependencies for source repos
+  - find -L src -name package.xml -exec dirname {} \; | xargs -n 1 -i find {} -name manifest.xml | xargs -n 1 -i mv {} {}.deprecated
   - rosdep install -r -n --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
+  - find -L src -name manifest.xml.deprecated | xargs -n 1 -i dirname {} | xargs -n 1 -i ln -sf `pwd`/{}/manifest.xml.deprecated `pwd`/{}/manifest.xml
+  - if [ $BUILDER = rosbuild ]; then source src/setup.sh; rosdep install -a -y -n -r; fi
+  - if [ $ROS_DISTRO = groovy ]; then sudo apt-get install ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-audio-common ros-$ROS_DISTRO-navigation ros-$ROS_DISTRO-laser-filters ros-$ROS_DISTRO-camera-calibration-parsers ros-$ROS_DISTRO-depth-image-proc ros-$ROS_DISTRO-driver-base ros-$ROS_DISTRO-image-proc ros-$ROS_DISTRO-image-proc ros-$ROS_DISTRO-compressed-image-transport ros-$ROS_DISTRO-pr2-common ros-$ROS_DISTRO-pr2-controllers ros-$ROS_DISTRO-arm-navigation ros-$ROS_DISTRO-pr2-common-actions ros-$ROS_DISTRO-urdf-parser ros-$ROS_DISTRO-openni-camera ros-$ROS_DISTRO-pr2-teleop-app ros-$ROS_DISTRO-pr2-navigation ros-$ROS_DISTRO-pr2-navigation-apps ros-$ROS_DISTRO-pr2-arm-navigation ros-$ROS_DISTRO-pr2-interactive-manipulation; fi
 before_script: # Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
   - source /opt/ros/$ROS_DISTRO/setup.bash
+  - export CATKIN_PACKAGES="`find $CI_SOURCE_PATH -name package.xml | xargs -n 1 dirname | xargs -n 1 basename`"
 script: # All commands must exit with code 0 on success. Anything else is considered failure.
-  - catkin_make
-  - catkin_make test -j8
-  - catkin_make install
-  #- rm -fr devel src build
-  - source install/setup.bash
-  #- find install -iname "*.test" -print0 | xargs -0 -n1 rostest
+  - cd ~/ros/ws_$REPOSITORY_NAME
+  - if [ $BUILDER = rosbuild ]; then source src/setup.sh; cd src; fi
+  - rospack profile
+  - if [ $BUILDER = catkin ]; then catkin_make -j4; else rosmake $BUILD_PACKAGES --profile --pjobs=4; fi
+  - if [ $BUILDER = catkin ]; then if [ "$CATKIN_PACKAGES" != "" ]; then catkin_make test --pkg $CATKIN_PACKAGES; fi; else rosmake $BUILD_PACKAGES --test-only; fi
+  - if [ $BUILDER = catkin ]; then catkin_make install; fi
+  - if [ $BUILDER = catkin ]; then rm -fr devel src build; source install/setup.bash; else source setup.sh; fi
 after_failure:
   - if [ -e ./build/Testing/Temporary/LastTest.log ]; then cat ./build/Testing/Temporary/LastTest.log; fi
   - find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;
   - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
-